@article{stueckler-ras12, title = {Efficient 3D Object Perception and Grasp Planning for Mobile Manipulation in Domestic Environments}, author = {Stueckler, J. and Steffens, R. and Holz, D. and Behnke, S.}, journal = {Robotics and Autonomous Systems (RAS)}, volume = {61}, number = {10}, pages = {1106-1115}, year = {2013}, doi = {10.1016/j.robot.2012.08.003}, url = {http://ais.uni-bonn.de/papers/RAS_2012_Object_Perception__Grasp_Planning.pdf} }